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   <a href="drvsim_rn_release_notes.htm">Release Notes</a> &gt; Upgrade Procedure&nbsp;&gt;</p>
      <h1 class="p_Heading1" style="page-break-after: avoid;"><span class="f_Heading1">Kollmorgen Firmware Upgrade Procedure</span></h1>

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<p class="p_Normal">This paragraph explains the procedure to upgrade the firmware of the Kollmorgen motor drives to the latest version.</p>
<h2 class="p_Heading2" style="page-break-after: avoid;"><span class="f_Heading2">Preliminary Operations</span></h2>
<p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 20px; margin: 0px 0px 0px 0px;"><span style="font-size:10pt; font-family: 'Arial';color:#000000;display:inline-block;width:20px;margin-left:-20px">1.</span>Stop any VI-DriveSim simulation that is running;</p><p class="p_Normal">&nbsp;</p>
<p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 20px; margin: 0px 0px 0px 0px;"><span style="font-size:10pt; font-family: 'Arial';color:#000000;display:inline-block;width:20px;margin-left:-20px">2.</span>Be sure that the PowerBox is switched on;</p><p class="p_Normal">&nbsp;</p>
<p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 20px; margin: 0px 0px 0px 0px;"><span style="font-size:10pt; font-family: 'Arial';color:#000000;display:inline-block;width:20px;margin-left:-20px">3.</span>Verify the drive respond on network. The default addresses are:</p><p class="p_Normal">&nbsp;</p>
<p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 13px; margin: 0px 0px 0px 0px;"><span style="font-size:10pt; font-family: 'Arial Unicode MS','Lucida Sans Unicode','Arial';color:#000000;display:inline-block;width:13px;margin-left:-13px">&#8226;</span>192.168.222.170 Steering wheel drive</p><p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 13px; margin: 0px 0px 0px 0px;"><span style="font-size:10pt; font-family: 'Arial Unicode MS','Lucida Sans Unicode','Arial';color:#000000;display:inline-block;width:13px;margin-left:-13px">&#8226;</span>192.168.222.171 Active brake drive</p><p class="p_Normal">&nbsp;</p>
<p class="p_Normal">In case of problems the actual drive IP configuration is done by setting the rotary switch RS1 to position 1 and then by setting the IP address via the web interface. The IP address can be checked by pushing the button B3 followed by the button B2. If the IP address shown on the upper right display of the driver (one number at time)<span style="font-family: Sansation;"> </span>is different than the one listed above, setup a point to point ethernet connection and change the IP address on the web interface. For example, assume that the address is 192.168.0.100. </p>
<p class="p_Normal">The steps to follow are:</p>
<p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 13px; margin: 0px 0px 0px 0px;"><span style="font-size:10pt; font-family: 'Arial Unicode MS','Lucida Sans Unicode','Arial';color:#000000;display:inline-block;width:13px;margin-left:-13px">&#8226;</span>setup the ethernet connection of the computer used for configuration such that the drive can be accessed</p><p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 13px; margin: 0px 0px 0px 0px;"><span style="font-size:10pt; font-family: 'Arial Unicode MS','Lucida Sans Unicode','Arial';color:#000000;display:inline-block;width:13px;margin-left:-13px">&#8226;</span>with a web browser go to the address 192.168.0.100</p><p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 13px; margin: 0px 0px 0px 0px;"><span style="font-size:10pt; font-family: 'Arial Unicode MS','Lucida Sans Unicode','Arial';color:#000000;display:inline-block;width:13px;margin-left:-13px">&#8226;</span>login as administrator using the password “administrator”</p><p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 13px; margin: 0px 0px 0px 0px;"><span style="font-size:10pt; font-family: 'Arial Unicode MS','Lucida Sans Unicode','Arial';color:#000000;display:inline-block;width:13px;margin-left:-13px">&#8226;</span>select the tab “Settings” and the “Network”</p><p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 13px; margin: 0px 0px 0px 0px;"><span style="font-size:10pt; font-family: 'Arial Unicode MS','Lucida Sans Unicode','Arial';color:#000000;display:inline-block;width:13px;margin-left:-13px">&#8226;</span>set the correct IP, subnet mask (255.255.255.0) and gateway (192.168.222.1)</p><p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 13px; margin: 0px 0px 0px 0px;"><span style="font-size:10pt; font-family: 'Arial Unicode MS','Lucida Sans Unicode','Arial';color:#000000;display:inline-block;width:13px;margin-left:-13px">&#8226;</span>press “Apply” and then “Reboot”</p><p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 13px; margin: 0px 0px 0px 0px;"><span style="font-size:10pt; font-family: 'Arial Unicode MS','Lucida Sans Unicode','Arial';color:#000000;display:inline-block;width:13px;margin-left:-13px">&#8226;</span>setup the ethernet connection of the computer used for configuration to access the subnet 192.168.222.XXX</p><p class="p_Normal">&nbsp;</p>
<h2 class="p_Heading2" style="page-break-after: avoid;"><span class="f_Heading2">Firmware Package</span></h2>
<p class="p_Normal">The motor drive firmware is delivered by VI-grade as a compressed folder, named:</p>
<p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 13px; margin: 0px 0px 0px 0px;"><span style="font-size:10pt; font-family: 'Arial Unicode MS','Lucida Sans Unicode','Arial';color:#000000;display:inline-block;width:13px;margin-left:-13px">&#8226;</span><span style="font-style: italic;">VI_Steering_wheel_fw_19.2_XXXX_Windows_x64_Setup.zip for the steering motor drive</span></p><p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 13px; margin: 0px 0px 0px 0px;"><span style="font-size:10pt; font-family: 'Arial Unicode MS','Lucida Sans Unicode','Arial';color:#000000;display:inline-block;width:13px;margin-left:-13px">&#8226;</span><span style="font-style: italic;">VI_Active_brake_fw_kollmorgen_19.2_XXXX_Windows_x64_Setup.zip for active brake drive</span></p><p class="p_Normal">&nbsp;</p>
<h2 class="p_Heading2" style="page-break-after: avoid;"><span class="f_Heading2">Upgrade</span></h2>
<p class="p_Normal">The procedure to update the drive PLC software is the same for both the steering wheel and active brake drives. </p>
<p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 13px; margin: 0px 0px 0px 0px;"><span style="font-size:10pt; font-family: 'Arial Unicode MS','Lucida Sans Unicode','Arial';color:#000000;display:inline-block;width:13px;margin-left:-13px">&#8226;</span>take a SD card and make sure it is empty</p><p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 13px; margin: 0px 0px 0px 0px;"><span style="font-size:10pt; font-family: 'Arial Unicode MS','Lucida Sans Unicode','Arial';color:#000000;display:inline-block;width:13px;margin-left:-13px">&#8226;</span>unzip the “backup” folder from the specific archive and copy it to the SD card</p><p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 13px; margin: 0px 0px 0px 0px;"><span style="font-size:10pt; font-family: 'Arial Unicode MS','Lucida Sans Unicode','Arial';color:#000000;display:inline-block;width:13px;margin-left:-13px">&#8226;</span>insert the SD card in the drive</p><p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 13px; margin: 0px 0px 0px 0px;"><span style="font-size:10pt; font-family: 'Arial Unicode MS','Lucida Sans Unicode','Arial';color:#000000;display:inline-block;width:13px;margin-left:-13px">&#8226;</span>connect to the web interface of the drive (with a browser go to 192.168.222.170 or 192.168.222.171)</p><p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 13px; margin: 0px 0px 0px 0px;"><span style="font-size:10pt; font-family: 'Arial Unicode MS','Lucida Sans Unicode','Arial';color:#000000;display:inline-block;width:13px;margin-left:-13px">&#8226;</span>login as administrator (password “administrator”)</p><p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 13px; margin: 0px 0px 0px 0px;"><span style="font-size:10pt; font-family: 'Arial Unicode MS','Lucida Sans Unicode','Arial';color:#000000;display:inline-block;width:13px;margin-left:-13px">&#8226;</span>select the tab “<span style="font-weight: bold;">KAS Application</span>” and stop the application by pressing “<span style="font-weight: bold;">Stop</span>”</p><p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 13px; margin: 0px 0px 0px 0px;"><span style="font-size:10pt; font-family: 'Arial Unicode MS','Lucida Sans Unicode','Arial';color:#000000;display:inline-block;width:13px;margin-left:-13px">&#8226;</span>select the tab “<span style="font-weight: bold;">Backup &amp; Restore</span>” and then “<span style="font-weight: bold;">Restore</span>”</p><p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 13px; margin: 0px 0px 0px 0px;"><span style="font-size:10pt; font-family: 'Arial Unicode MS','Lucida Sans Unicode','Arial';color:#000000;display:inline-block;width:13px;margin-left:-13px">&#8226;</span>press on “<span style="font-weight: bold;">Restore Controller</span>”</p><p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 13px; margin: 0px 0px 0px 0px;"><span style="font-size:10pt; font-family: 'Arial Unicode MS','Lucida Sans Unicode','Arial';color:#000000;display:inline-block;width:13px;margin-left:-13px">&#8226;</span>press on “<span style="font-weight: bold;">OK</span>” when asked to reboot</p><p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 13px; margin: 0px 0px 0px 0px;"><span style="font-size:10pt; font-family: 'Arial Unicode MS','Lucida Sans Unicode','Arial';color:#000000;display:inline-block;width:13px;margin-left:-13px">&#8226;</span>after reboot, login with the same credentials and<span style="font-family: Sansation;"> </span>return to the “<span style="font-weight: bold;">Restore</span>” menu</p><p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 13px; margin: 0px 0px 0px 0px;"><span style="font-size:10pt; font-family: 'Arial Unicode MS','Lucida Sans Unicode','Arial';color:#000000;display:inline-block;width:13px;margin-left:-13px">&#8226;</span>click on “<span style="font-weight: bold;">Advanced</span>” under <span style="font-weight: bold;">“EtherCAT Devices</span>”</p><p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 13px; margin: 0px 0px 0px 0px;"><span style="font-size:10pt; font-family: 'Arial Unicode MS','Lucida Sans Unicode','Arial';color:#000000;display:inline-block;width:13px;margin-left:-13px">&#8226;</span>select the only available controller “0: AKD …”</p><p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 13px; margin: 0px 0px 0px 0px;"><span style="font-size:10pt; font-family: 'Arial Unicode MS','Lucida Sans Unicode','Arial';color:#000000;display:inline-block;width:13px;margin-left:-13px">&#8226;</span>press on “<span style="font-weight: bold;">Restore selected devices</span>”</p><p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 13px; margin: 0px 0px 0px 0px;"><span style="font-size:10pt; font-family: 'Arial Unicode MS','Lucida Sans Unicode','Arial';color:#000000;display:inline-block;width:13px;margin-left:-13px">&#8226;</span>after reboot, login again and go to the tab “<span style="font-weight: bold;">KAS Application</span>” and check that “<span style="font-weight: bold;">Status of KAS app</span>” is “<span style="font-weight: bold;">_started</span>”. If not, start the application</p><p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 13px; margin: 0px 0px 0px 0px;"><span style="font-size:10pt; font-family: 'Arial Unicode MS','Lucida Sans Unicode','Arial';color:#000000;display:inline-block;width:13px;margin-left:-13px">&#8226;</span>make sure that the option “Auto-start” is checked. If not check it and press “Apply”</p><p class="p_Normal">After the procedure is complete the “Version of the KAS app” under KAS Application tab<span style="font-family: Sansation;"> </span>should be:</p>
<p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 13px; margin: 0px 0px 0px 0px;"><span style="font-size:10pt; font-family: 'Arial Unicode MS','Lucida Sans Unicode','Arial';color:#000000;display:inline-block;width:13px;margin-left:-13px">&#8226;</span> str_wheel:VERS. 2:xxx for the steering wheel drive </p><p style="text-align: justify; text-indent: 0px; padding: 0px 0px 0px 13px; margin: 0px 0px 0px 0px;"><span style="font-size:10pt; font-family: 'Arial Unicode MS','Lucida Sans Unicode','Arial';color:#000000;display:inline-block;width:13px;margin-left:-13px">&#8226;</span>_brake:VERS. 2:xxx for the active brake</p><p class="p_Normal">&nbsp;</p>
<h2 class="p_Heading2" style="page-break-after: avoid;"><span class="f_Heading2">Drive Configuration</span></h2>
<p class="p_Normal">To initialize the drive configuration open a terminal on the Concurrent and go to the folder</p>
<p class="p_FilesForm"><span class="f_FilesForm">/vigrade/vicrt/standalone/scripts</span></p>
<p class="p_FilesForm"><span class="f_FilesForm">&nbsp;</span></p>
<p class="p_Normal">run the following command to initialize the active brake:</p>
<p class="p_FilesForm"><span class="f_FilesForm">./active_brake_kollmorgen initialize</span></p>
<p class="p_Normal">&nbsp;</p>
<p class="p_Normal">and the following one for the steering wheel</p>
<p class="p_FilesForm"><span class="f_FilesForm">./steering_wheel_kollmorgen initialize</span></p>
<p class="p_FilesForm"><span class="f_FilesForm">&nbsp;</span></p>
<p class="p_Normal">the configuration process for the active brake is fully automatic while for the steering wheel you will be asked about the type of mounting of the motor (direct or inverted) and if the homing should be enabled or not.</p>
<p class="p_Normal">&nbsp;</p>
<p class="p_Normal">The angle offset of the steering wheel (zero position) should be set using the DriveSim GUI, in the Zero Angle tab of Cockpit parameters, under Action Feedback window (see <a href="drivesim_gui_tab_steer.htm" class="topiclink">this chapter</a>).<span style="font-family: Sansation;"> </span></p>
<p class="p_Normal">&nbsp;</p>

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